#ifndef AXURGLASER_H
#define AXURGLASER_H

#include <QThread>
#include "URG.h"
#include "AxConfiguration.h"
#include "C2DTo3D.h"
#include "axmapcontrol.h"

class AxUrgLaser : public QThread
{
	Q_OBJECT
	
public:
	AxUrgLaser(QObject *parent);
	void intial(AxMapControl *axMap,AxConfiguration &config_,C2DTo3D &C2DTo3Device_);
	~AxUrgLaser();
	void run(void);
	int openUrg(int port_);

	void startRecord();
	void stop();
	void save();
	urg_state_t urg_state;
	bool is_pause;
	AxMapControl *viewer;
	AxConfiguration config;
	C2DTo3D m_C2DTo3Device;
	QMutex global_Mutex;
signals:
	void receive_failed(const char* error_message);
	void received(void);
private:
	
};

#endif // AXURGLASER_H
